minor updates and fixes

Driver.cs

@@ -409,7 +409,7 @@ public bool Connected
  }
  catch (Exception e)
  {
-
+ System.Diagnostics.Debug.WriteLine(e.Message);
  connectedState = false;
  tl.LogMessage("Cannot Open Serial Port", comPort);
  if (serialPort.IsOpen)

EQFocuser.csproj

@@ -126,6 +126,7 @@
  <ItemGroup>
  <None Include="ClassDiagram1.cd" />
  <None Include="EQFocuser2Stepper.ino" />
+ <None Include="EQFocuserStepper-EasyDriver-NEMA17-Geared.ino" />
  <None Include="EQFocuserStepper-MotorShield-NEMA17.ino" />
  <None Include="EQFocuserStepper.ino" />
  <None Include="app.config" />

EQFocuserStepper-EasyDriver-NEMA17-Geared.ino

@@ -0,0 +1,258 @@
+// EQ Simple Focuser
+// Arduino code in controlling an absolute focuser
+// using a stepper motor
+
+#include <AccelStepper.h>
+
+// Define the stepper and the pins it will use
+AccelStepper stepper1(AccelStepper::DRIVER, 9, 8);
+
+// for command purposes
+String inputString = "";
+int step = 0;
+int backlashStep = 0;
+String lastDirection = "NONE"; //"OUTWARD"
+String currentDirection = "NONE";
+
+// for pin values
+int ccwPin = 7;
+int cwPin = 6;
+int ccwVal = 0;
+int cwVal = 0;
+
+// for the variable resistor
+int potpin = 0;
+int variableResistorValue = 10;
+int oldVariableResistorValue = 10;
+
+// for manual control
+long toPosition;
+bool positionReported = false;
+
+
+void setup() {
+ Serial.begin(115200);
+ Serial.println("EQFOCUSER_STEPPER#");
+
+ stepper1.setMaxSpeed(10000.0);
+ stepper1.setAcceleration(3000.0);
+// stepper1.setSpeed(3000);
+
+ inputString.reserve(200);
+
+ pinMode(ccwPin, INPUT_PULLUP);
+ pinMode(cwPin, INPUT_PULLUP);
+}
+
+
+void loop() {
+ variableResistorValue = analogRead(potpin);
+
+ cwVal = digitalRead(cwPin);
+ ccwVal = digitalRead(ccwPin);
+
+ if (ccwVal == LOW || cwVal == LOW) {
+ // if (oldVariableResistorValue < variableResistorValue - 5 || oldVariableResistorValue > variableResistorValue + 5 ){
+ // // set the max acceleration
+ // stepper1.setAcceleration(variableResistorValue / 102.4);
+ // oldVariableResistorValue = variableResistorValue;
+ // Serial.print("Changing Value of acceleration");
+ // Serial.println(oldVariableResistorValue);
+ // }
+ // the PULLUP Pins are pressed
+ Serial.print("MOVING:");
+ if (ccwVal == LOW) {
+ toPosition = stepper1.currentPosition() - variableResistorValue / 10;
+ Serial.print(toPosition);
+ applyBacklashStep(toPosition, lastDirection, "INWARD");
+// stepper1.moveTo(toPosition);
+ lastDirection = "INWARD";
+
+ }
+ if (cwVal == LOW) {
+ toPosition = stepper1.currentPosition() + variableResistorValue / 10;
+ Serial.print(toPosition);
+ applyBacklashStep(toPosition, lastDirection, "OUTWARD");
+// stepper1.moveTo(toPosition);
+ lastDirection = "OUTWARD";
+ }
+ Serial.println("#");
+ stepper1.run();
+
+ if (toPosition == stepper1.currentPosition()) {
+ // the stepper is not really moving here so just report the posiiton
+ reportPosition();
+ }
+ }
+ else {
+ if (stepper1.distanceToGo() != 0) {
+ // let the stepper finish the movement
+ stepper1.run();
+ positionReported = false;
+ }
+ if (stepper1.distanceToGo() == 0 && !positionReported) {
+ reportPosition();
+ delay(500);
+ positionReported = true;
+ }
+ }
+}
+
+void reportPosition() {
+ Serial.print("POSITION:");
+ Serial.print(stepper1.currentPosition());
+ Serial.println("#");
+}
+
+// test if direction is the same, otherwise apply backlash step
+// this method is only applicable for manual focusing changes
+void applyBacklashStep(int toPosition, String lastDirection, String currentDirection){
+ if (lastDirection == currentDirection){
+ // no backlash
+ stepper1.moveTo(toPosition);
+ }
+ else {
+ // apply backlash
+ stepper1.moveTo(toPosition + backlashStep);
+ stepper1.setCurrentPosition(toPosition - backlashStep);
+ }
+}
+
+/**
+* process the command we recieved from the client
+* command format is <Letter><Space><Integer>
+* i.e. A 500 ---- Fast Rewind with 500 steps
+*/
+void serialCommand(String commandString) {
+ char _command = commandString.charAt(0);
+ int _step = commandString.substring(2).toInt();
+ String _answer = "";
+ int _currentPosition = stepper1.currentPosition();
+ int _newPosition = _currentPosition;
+ int _backlashStep;
+
+
+
+ switch (_command) {
+ case 'A': // FAST REVERSE "<<"
+ case 'a': _newPosition = _currentPosition - ( _step * 2 );
+ currentDirection = "INWARD";
+ break;
+ case 'B': // REVERSE "<"
+ case 'b': _newPosition = _currentPosition - _step;
+ currentDirection = "INWARD";
+ break;
+ case 'C': // FORWARD ">"
+ case 'c': _newPosition = _currentPosition + _step;
+ currentDirection = "OUTWARD";
+ break;
+ case 'D': // FAST FORWARD ">>"
+ case 'd': _newPosition = _currentPosition + ( _step * 2 );
+ currentDirection = "OUTWARD";
+ break;
+ case 'E': // MOVE TO POSITION
+ case 'e': _newPosition = _step;
+ break;
+ case 'F': // GET CURRENT POSITION
+ case 'f': _answer += _currentPosition;
+ break;
+ case 'G': // SET POSITION TO 0
+ case 'g': _newPosition = 0;
+ _currentPosition = 0;
+ stepper1.setCurrentPosition(0);
+ break;
+ case 'H': // SET ACCELERATION
+ case 'h': _newPosition = _currentPosition; // non move command
+ stepper1.setAcceleration(_step);
+ _answer += "SET-ACCELERATION:";
+ _answer += _step;
+ break;
+ case 'I': // SET SPEED
+ _newPosition = _currentPosition; // non move command
+ stepper1.setSpeed(_step);
+ _answer += "SET-SPEED:";
+ _answer += _step;
+ break;
+ case 'i': // GET SPEED
+ _newPosition = _currentPosition; // non move command
+ _answer += "GET-SPEED:";
+ _answer += stepper1.speed();
+ break;
+ case 'J': // SET MAX SPEED
+ case 'j': _newPosition = _currentPosition; // non move command
+ stepper1.setMaxSpeed(_step);
+ _answer += "SET-MAXSPEED:";
+ _answer += _step;
+ break;
+ case 'k': // GET TEMPERATURE / HUMIDITY
+ _newPosition = _currentPosition; // non move command
+ break;
+ case 'L' :
+ case 'l' :
+ backlashStep = _step;
+ _answer += "SET-BACKLASHSTEP:";
+ _answer += _step;
+ break;
+ case 'X': // GET STATUS - may not be needed
+ case 'x':
+ stepper1.stop();
+ break;
+ case 'Z': // IDENTIFY
+ case 'z': _answer += "EQFOCUSER_STEPPER";
+ break;
+ default:
+ _answer += "EQFOCUSER_STEPPER";
+ break;
+ }
+
+ if (_newPosition != _currentPosition) {
+ if (lastDirection != "NONE"){
+ if (stepper1.currentPosition() < _newPosition){
+ // moving forward
+ currentDirection == "OUTWARD";
+ }
+ if (stepper1.currentPosition() > _newPosition){
+ // moving backward
+ currentDirection == "INWARD";
+ }
+ Serial.print(lastDirection);Serial.print("===");Serial.println(currentDirection);
+ if (lastDirection != currentDirection){
+ if (currentDirection == "OUTWARD") _newPosition = _newPosition + backlashStep;
+ if (currentDirection == "INWARD") _newPosition = _newPosition - backlashStep;
+ }
+ else {
+ _backlashStep = 0;
+ }
+ }
+
+ // a move command was issued
+ Serial.print("MOVING:");
+ Serial.print(_newPosition);
+ Serial.println("#");
+ // stepper1.runToNewPosition(_newPosition); // this will block the execution
+ stepper1.moveTo(_newPosition);
+ stepper1.runSpeedToPosition();
+ lastDirection = currentDirection;
+ _answer += "POSITION:";
+ _answer += stepper1.currentPosition();
+ }
+
+
+ Serial.print(_answer);
+ Serial.println("#");
+}
+
+/**
+* handler for the serial communicationes
+* calls the SerialCommand whenever a new command is received
+*/
+void serialEvent() {
+ while (Serial.available()) {
+ char inChar = (char)Serial.read();
+ inputString += inChar;
+ if (inChar == '\n') {
+ serialCommand(inputString);
+ inputString = "";
+ }
+ }
+}